#include "imu.h"
#include "message.h"
#include "offline.h"
#include "robotdef.h"
#include "rtthread.h"
#include "rttypes.h"
#include "user_lib.h"


#define LOG_TAG              "robotcontrol"
#define LOG_LVL              LOG_LVL_DBG
#include <ulog.h>

static Publisher_t *gimbal_cmd_pub;            // 云台控制消息发布者
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send;      // 传递给云台的控制信息



void robot_control_init()
{
    gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
void robot_control()
{
    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
    gimbal_cmd_send.yaw = 0.0f;
    PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
}            




